CN202147276U - Agricultural booth manipulator - Google Patents
Agricultural booth manipulator Download PDFInfo
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- CN202147276U CN202147276U CN201120121638U CN201120121638U CN202147276U CN 202147276 U CN202147276 U CN 202147276U CN 201120121638 U CN201120121638 U CN 201120121638U CN 201120121638 U CN201120121638 U CN 201120121638U CN 202147276 U CN202147276 U CN 202147276U
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Abstract
The utility model relates to the technical field of engineering machinery, and particularly to an agricultural booth manipulator. The agricultural booth manipulator is structurally characterized in that: a horizontal slideway is provided at an upward end of the frame and the movable rod; the movable rod is inserted in the horizontal slideway on the frame through horizontal slide block mechanisms at two ends and can slide longitudinally; a vertical rod is connected with the movable rod through a depth slide block mechanism; the depth slide block mechanism is inserted into a horizontal sideway on the movable rod and can slide transversely; a vertical slide block mechanism is inserted into a vertical slideway on the vertical rod and can move vertically; the adopted manipulator large-arm, manipulator small-arm and the manipulator can rotate in 6 freedoms; and the front end of the manipulator small-arm is provided with a tactile sensor. Therefore the manipulator of the utility model can reach a random position in the frame flexibly and accurately. Not only can multiple use requirements in booth plantation be satisfied, but also high convenience in manufacturing, mounting and maintenance is obtained. Relatively low use cost is obtained. Production efficiency of the agricultural booth can be remarkably improved.
Description
Technical field
The utility model relates to the agricultural engineering machinery technical field, is the agricultural booth manipulator as a kind of rectangular coordinate system mechanical framework, can be widely used in nursery works such as agricultural fruit and vegetable greenhouses point flower, training and pinching.
Background technology
In the agricultural production of China, greenhouse gardening has been commonplace phenomenon, and modern agriculture, the agricultural that becomes more meticulous are also existing to be occurred, the consumer to meticulous agricultural product, comprise that the demand to organic farm products is improving year by year.But on a limited number of modernized farms with beyond the green agriculture production base, most greenhouse gardening (mainly referring to easy agricultural booth plantation here) mainly still relies on manpower in work; How much labour intensity of peasant do not reduce, on the contrary, because the enhancement of environment of greenhouse gardening; Arable crops are many, and it is busier to work, for example: usually need utilize writing brush or simple and easy floral organ work during the point flower; Both wasted liquid medicine easily, efficient is not high yet; When pinching, training or harvesting, also often can't operate from the high-altitude, the agricultural chemicals that is difficult for leaving in the booth sometimes also can make any difference to human body.At present, labour intensity is very big when season that greenhouse gardening was concentrated at the florescence or busy farming season, is difficult in all necessary work of accomplishing in a short time sometimes.To this, there are some new simple agricultural equipments to be born at present, can and tie up at training, pinching, some flower and give certain help during climing.But these agricultural equipments often can only be accomplished single action, can not carry out comprehensive operation, usually also need manpower to cooperate, and they are limited to the labour intensity degree that alleviates greenhouse gardening.
The applicant designed the manipulator that is used for the melon and fruit booth before this, and its number of patent application is 201020284793.1, but its structure more complicated, manufacturing and installation are not very convenient, cause use cost bigger, are unfavorable for applying in the rural area.
The utility model content
The purpose of the utility model is; A kind of agricultural booth manipulator is provided, and it not only can accomplish the multinomial instructions for use in the greenhouse gardening, and is making and installing also more convenient; Use cost is lower, helps in present rural area greenhouse gardening, applying.
For realizing above-mentioned purpose, the technical scheme that the utility model is taked is:
A kind of agricultural booth manipulator; Comprise hydraulic pressure/electric powerplant, control device, frame, motion bar, vertical rod, the big arm of manipulator, manipulator forearm, touch sensor, manipulator, robot support frame, collect basket and power supply; Said hydraulic pressure/electric powerplant, control device and frame branch are arranged; Be connected to each other through connecting line between hydraulic pressure/electric powerplant and the control device and be connected through driven structure on connecting line and the frame; Said frame comprises bearing and frame-like upper bracket, is provided with in a side of frame and collects indigo plant and power supply, it is characterized in that; Be provided with horizontal slideway towards the upper end at said upper bracket and motion bar; Said motion bar is rabbeted in the horizontal slideway of frame upper bracket through the cross sliding clock mechanism that is located at its two ends, is connected with drive wire between motion bar and the hydraulic pressure/electric powerplant, and motion bar drives longitudinal sliding motion in the horizontal slideway of frame upper bracket by hydraulic pressure/electric powerplant; Said vertical rod is connected with motion bar through the depth slide block mechanism; In the horizontal slideway of depth slide block mechanism interlocking on motion bar; Be connected by drive wire between depth slide block mechanism and the hydraulic pressure/electric powerplant, hydraulic pressure/electric powerplant drives in the horizontal slideway of depth slide block mechanism on motion bar and laterally slides; On said vertical rod, be provided with vertical slideway; The vertical embedded vertical slipper mechanism that is connected to of slideway; Be connected by drive wire between vertical slipper mechanism and the hydraulic pressure/electric powerplant, vertical slipper mechanism is driven in the vertical slideway on vertical rod by hydraulic pressure/electric powerplant and moves up and down; In vertical slipper mechanism, be provided with the robot support frame, on the robot support frame, through turntable robot manipulator structure be set, said robot manipulator structure comprises the big arm of manipulator, manipulator forearm and manipulator, is provided with touch sensor at the front end of manipulator forearm.
Said robot manipulator structure can be on the robot support frame through turntable and horizontally rotates.
Said robot manipulator structure can be 6 frees degree and rotate.
The front end of said manipulator forearm can be provided with various forms of mechanical hand (the utility model can be equipped with the various forms of mechanical hand, and manipulator is changed in therefore visual instructions for use).
Fruits and vegetables basically all are vertical cultivated crops, and when the results fruit, cauline leaf generally can become barrier; Manipulator need have the motion advantage and the free degree is enough big in vertical direction; So the utility model has adopted the rectangular coordinate system mechanical framework, its slideway that relates to all adopts the linear slide slideway, has 3 frees degree; Can reduce the guide rail volume, improve sensitivity and also can adjust and install according to the actual size of booth; The manipulator of 6 frees degree can arrive three-dimensional optional position in theory; Therefore; The agricultural booth manipulator of the utility model has 9 frees degree; Guaranteed that not only manipulator has good motion flexibility and versatility in complex environment, and can make manipulator arrive the optional position of booth, and multiple nursing function is provided.In addition, on the agricultural booth manipulator, add touch sensor, controlled the action of manipulator by hydraulic pressure/electric powerplant and control device, thereby can measure the pressure between manipulator finger and the fruit in real time, can prevent to damage fruit effectively.
The good effect of the utility model is:
(1) through motion bar (depth slide block mechanism), cross sliding clock mechanism and vertical slipper mechanism can realize robot manipulator structure doing horizontal longitudinal sliding motion on the rack framework shape upper bracket and laterally slide and vertical slideway on vertical rod in move up and down; In addition; Because the robot support frame is the structure that can rotate; Mechanical arm and manipulator also are the structures that can rotate, and therefore, robot manipulator structure can be dexterous and accurately arrives three-dimensional any position in the frame;
(2) because the various forms of mechanical hand is disposed in the visual instructions for use of the front end of manipulator forearm, and therefore, its versatility is better, but a tractor serves several purposes, and use cost can reduce greatly;
(3) owing to used touch sensor, thus can be when work the strength of control manipulator, not only operation fast and accurately, and little to the damage of melon and fruit;
(4) adopt driven by power, environmentally safe, and simple in structure; Maintenance and replacement are convenient; Can adapt to the need of work of different booths or the multiple need of work of same booth, can progressively be derivatized to Almightiness type booth manipulator, thereby can significantly improve the production efficiency of agricultural booth.
Description of drawings
Accompanying drawing 1 is the structural representation of a kind of agricultural booth manipulator of the utility model;
Accompanying drawing 2 is the front view of robot manipulator structure;
Accompanying drawing 3 is the structural representation of robot manipulator structure;
Label among the figure is respectively:
1, hydraulic pressure/electric powerplant; 2, control device; 3, frame;
4, motion bar; 5, vertical rod; 6, depth slide block mechanism;
7, cross sliding clock mechanism; 81, the big arm of manipulator; 82, manipulator forearm;
9, touch sensor; 10, manipulator; 11, robot support frame;
12, vertical slipper mechanism; 13, collect basket; 14, power supply.
The specific embodiment
Provide the specific embodiment of a kind of agricultural booth manipulator of the utility model below in conjunction with accompanying drawing, but be noted that the enforcement of the utility model is not limited to following embodiment.
Referring to accompanying drawing 1; A kind of agricultural booth manipulator; Its critical piece comprises the big arm of hydraulic pressure/electric powerplant 1, control device 2, frame 3, motion bar 4, vertical rod 5, tool hand 81, manipulator forearm 82, touch sensor 9, manipulator 10, robot support frame 11, collects basket 13 and power supply 14; Wherein, Hydraulic pressure/electric powerplant 1, control device 2, touch sensor 9, collection basket 13 and power supply 14 can adopt the corresponding component that supply is arranged on the market; The big arm of frame 3, motion bar 4, vertical rod 5, tool hand 81, manipulator forearm 82, manipulator 10, robot support frame 11 etc. can design according to the instructions for use to the agricultural booth manipulator voluntarily, also can design a kind of parts of basic universal models and produce with convenient.
Hydraulic pressure/electric powerplant 1; Control device 2 should divide with frame 3 and is arranged; Hydraulic pressure/electric powerplant 1 and control device 2 be arranged on to be convenient to management in the agricultural booth be the position; Be connected to each other through connecting line between hydraulic pressure/electric powerplant 1 and the control device 2 and through being connected on connecting line and the frame 3 by Drive Structure; For power being provided by Drive Structure; Through motion bar 4 (depth slide block mechanism 6); Cross sliding clock mechanism 7 and vertical slipper mechanism 12 realize that robot manipulator structure slides and moving up and down on vertical rod 5 with horizontal in the horizontal longitudinal sliding motion on the frame 3
A kind of agricultural booth manipulator of the utility model structurally one has 9 frees degree (seeing accompanying drawing 1 and 3), and they comprise: 1. motion bar 4 moves on frame 3 guide rails an one-movement-freedom-degree is provided; 2. depth slide block mechanism 6 moves on motion bar 4 one-movement-freedom-degree is provided; 3. vertical slipper mechanism 12 moves on vertical rod 5 one-movement-freedom-degree is provided; 4. the turntable on the robot support frame 11 provides a rotational freedom; 5. the big arm 81 of manipulator and and turntable between a rotational freedom is provided; 6. between the big arm 81 of manipulator forearm 82 and manipulator a rotational freedom is provided; 7. manipulator forearm 82 rear ends provide a rotational freedom; 8. the wrist of manipulator forearm 82 leading portions and manipulator 10 provides a rotational freedom; 9. manipulator 10 fingers provide a rotational freedom.
A kind of agricultural booth manipulator of the utility model drives robot manipulator structures by control device 2 earlier and arrives the working region in the frames 3, again by touch sensor 9 driving device arms 82, big arm 81 of manipulator and manipulator 10 rotations, move and extend and arrive the fruits and vegetables that relate to.
On the basis of above-mentioned embodiment; It is also conceivable that and a removable mesh bag is being installed below the vertical plane of manipulator 10 to collect the fruit under plucking; Or when manipulator 10 can brake hard during by the tendril lash and initiatively report to the police; Thereby improve the self-protection of equipment, also increase the security of agricultural booth manipulator work simultaneously.
Claims (4)
1. agricultural booth manipulator; Comprise hydraulic pressure/electric powerplant (1), control device (2), frame (3), motion bar (4), vertical rod (5), the big arm of manipulator (81), manipulator forearm (82), touch sensor (9), manipulator (10), robot support frame (11), collect basket (13) and power supply (14); Said hydraulic pressure/electric powerplant (1), control device (2) are arranged with frame (3) branch; Be connected to each other and go up driven structure through connecting line between hydraulic pressure/electric powerplant (1) and the control device (2) and be connected through connecting line and frame (3); Said frame (3) comprises bearing and frame-like upper bracket; Side in frame (3) is provided with collection blue (13) and power supply (14); It is characterized in that; Be provided with horizontal slideway towards the upper end at said upper bracket and motion bar (4); Said motion bar (4) is rabbeted in the horizontal slideway of frame (3) upper bracket through the cross sliding clock mechanism (7) that is located at its two ends, is connected with drive wire between motion bar (4) and the hydraulic pressure/electric powerplant (1), and motion bar (4) drives longitudinal sliding motion in the horizontal slideway of frame (3) upper bracket by hydraulic pressure/electric powerplant (1); Said vertical rod (5) is connected with motion bar (4) through depth slide block mechanism (6); In the horizontal slideway of depth slide block mechanism (6) interlocking on motion bar (4); Be connected by drive wire between depth slide block mechanism (6) and the hydraulic pressure/electric powerplant (1), hydraulic pressure/electric powerplant (1) drives laterally slip in the horizontal slideway of depth slide block mechanism (6) on motion bar (4); On said vertical rod (5), be provided with vertical slideway; The vertical embedded vertical slipper mechanism (12) that is connected to of slideway; Be connected by drive wire between vertical slipper mechanism (12) and the hydraulic pressure/electric powerplant (1), vertical slipper mechanism (12) is driven in the vertical slideway on vertical rod (5) by hydraulic pressure/electric powerplant (1) and moves up and down; In vertical slipper mechanism (12), be provided with robot support frame (11); On robot support frame (11), robot manipulator structure is set; Said robot manipulator structure comprises the big arm of manipulator (81), manipulator forearm (82) and manipulator (10), is provided with touch sensor (9) at the front end of manipulator forearm (82).
2. a kind of agricultural booth manipulator according to claim 1 is characterized in that, said robot manipulator structure can be on robot support frame (11) through turntable and horizontally rotates.
3. a kind of agricultural booth manipulator according to claim 1 is characterized in that, said robot manipulator structure can be 6 frees degree and rotate.
4. a kind of agricultural booth manipulator according to claim 4 is characterized in that the front end of said manipulator forearm (82) can be provided with various forms of mechanical hand (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120121638U CN202147276U (en) | 2011-04-22 | 2011-04-22 | Agricultural booth manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120121638U CN202147276U (en) | 2011-04-22 | 2011-04-22 | Agricultural booth manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202147276U true CN202147276U (en) | 2012-02-22 |
Family
ID=45588350
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201120121638U Expired - Fee Related CN202147276U (en) | 2011-04-22 | 2011-04-22 | Agricultural booth manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202147276U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102699913A (en) * | 2012-05-07 | 2012-10-03 | 北京华康诚信医疗科技有限公司 | Drawer taking manipulator |
| CN102823365A (en) * | 2012-06-05 | 2012-12-19 | 江苏大学 | Column cultivation matching transplanting robot |
| CN103056570A (en) * | 2013-01-28 | 2013-04-24 | 大连理工大学 | Sliding way suspension type body section margin cutting device |
| CN106941791A (en) * | 2017-04-28 | 2017-07-14 | 河南科技大学 | A kind of remote-controllable formula Multi-functional tillage pipe device |
| CN107032074A (en) * | 2017-04-09 | 2017-08-11 | 剑河县台沙村众创种植养殖有限责任公司 | A kind of strawberry cultivating Picking basket mobile device |
| CN107231956A (en) * | 2017-06-08 | 2017-10-10 | 中国农业科学院农业信息研究所 | A kind of agriculture Internet of Things experiencing system |
| CN108781763A (en) * | 2018-05-21 | 2018-11-13 | 昆明理工大学 | One kind is based on monolithic processor controlled from travelling wheel type walnut picker |
| CN109496675A (en) * | 2019-01-22 | 2019-03-22 | 湖南雪峰山酒庄有限责任公司 | Multi-functional wine-growing frame |
| CN111955165A (en) * | 2020-08-31 | 2020-11-20 | 新疆农业大学 | Self-propelled full-coverage multi-target safflower filament picking robot |
-
2011
- 2011-04-22 CN CN201120121638U patent/CN202147276U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102699913A (en) * | 2012-05-07 | 2012-10-03 | 北京华康诚信医疗科技有限公司 | Drawer taking manipulator |
| CN102699913B (en) * | 2012-05-07 | 2015-01-07 | 北京华康诚信医疗科技有限公司 | Drawer taking manipulator |
| CN102823365A (en) * | 2012-06-05 | 2012-12-19 | 江苏大学 | Column cultivation matching transplanting robot |
| CN102823365B (en) * | 2012-06-05 | 2014-08-20 | 江苏大学 | Column cultivation matching transplanting robot |
| CN103056570A (en) * | 2013-01-28 | 2013-04-24 | 大连理工大学 | Sliding way suspension type body section margin cutting device |
| CN107032074A (en) * | 2017-04-09 | 2017-08-11 | 剑河县台沙村众创种植养殖有限责任公司 | A kind of strawberry cultivating Picking basket mobile device |
| CN106941791A (en) * | 2017-04-28 | 2017-07-14 | 河南科技大学 | A kind of remote-controllable formula Multi-functional tillage pipe device |
| CN107231956A (en) * | 2017-06-08 | 2017-10-10 | 中国农业科学院农业信息研究所 | A kind of agriculture Internet of Things experiencing system |
| CN108781763A (en) * | 2018-05-21 | 2018-11-13 | 昆明理工大学 | One kind is based on monolithic processor controlled from travelling wheel type walnut picker |
| CN109496675A (en) * | 2019-01-22 | 2019-03-22 | 湖南雪峰山酒庄有限责任公司 | Multi-functional wine-growing frame |
| CN111955165A (en) * | 2020-08-31 | 2020-11-20 | 新疆农业大学 | Self-propelled full-coverage multi-target safflower filament picking robot |
| CN111955165B (en) * | 2020-08-31 | 2022-04-19 | 新疆农业大学 | Self-propelled full-coverage multi-target safflower filament picking robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120222 Termination date: 20140422 |